基于Inliers跟踪统计的RGB-D室内定位与地图构建

室内移动机器人同时定位与地图构建(SLAM)的前端位姿估计与后端优化容易受运动模糊的干扰。为此,提出一种基于Inliers跟踪统计的室内定位与地图构建算法。对RGB图像进行特征提取和匹配,运用RANSAC算法得到Inliers后,通过对Inliers数量的跟踪与统计剔除受相机运动影响的模糊图像,然后利用最近邻迭代的非线性优化方法求解相机位姿。在此基础上,通过闭环检测和优化后的全局位姿拼接出运动轨迹和三维稠密点云图。实验结果表明,相对RGB-D SLAM算法,该算法能够有效提高SLAM系统的建图鲁棒性与精度。

Litho-Tectonic Architecture of the Dialafara Area, Kédougou-Kéniéba Inlier, Integration of New Field Data and Geophysics

The Dialafara area is part of the highly endowed Kédougou-Kéniéba Inlier (KKI), West-Malian gold belt, which corresponds to a Paleoproterozoic window through the West African Craton (WAC). This study presents, first of all, an integration of geophysical data interpretation with litho-structural field reconnaissance and then proposes a new litho-structural map of the Dialafara area. The Dialafara area shows a variety of lithology characterized by volcanic and volcano-sedimentary units, metasediments and plutonic intrusion. These lithologies were affected by a complex superposition of structures of unequal importance defining three deformation phases (DD1 to DD3) under ductile to brittle regimes. These features permit to portray a new litho-structural map, which shows that the Dialafara area presents a more complex lithological and structural context than the one presented in regional map of the KKI. This leads to the evidence that this area could be a potential site for exploration as it is situated between two world-class gold districts.

Lithostructural Control of the Gold Mineralization of the Douta Permit of African Star Resources (Kédougou-Kéniéba Inlier, Southeastern Senegal)

The Douta permit of African Star Resources/Thor Explorations, located in the southeast of Senegal, in the Kédougou-Kéniéba Inlier (western part of the West African Craton), is dominated to the East by metasedimentary formations such as greywackes, shales, graphitic shales, quartzites, cherts, claystones and breccias characteristic of the Dialé-Daléma basin. To the West, the mafic formations of the Mako volcanic belt are the most common. Metasedimentary rocks are associated with metavolcanosedimentary terms found at the contact zones between the two (2) Birimian groups. These different geological formations are cut by mafic dolerite and gabbro sills and/or dykes, as well as quartz and microgranite veins. The Douta gold project is crossed from North to South by the MTZ (Main Transcurrent Zone), generally oriented NE-SW and becoming N-S towards the North. The permit is characterized by several shear corridors. The rocks are affected by brittle, brittle-ductile to ductile deformations. The gold mineralization is hosted by a NE-trending shear corridor called the Makosa corridor (Makosa shear zone), therefore sub-parallel to the MTZ. It has a subvertical dip (75˚ to 85˚ to the NW). It is associated with a hydrothermal phase characterized by quartz-sericite-epidote-fine, disseminated pyrite and arsenopyrite ± albite ± chlorite paragenesis. These minerals testify to the existence of a low degree of metamorphism (greenschist facies, epizonal domain) in the area. However, metamorphism reaches amphibolite facies in some places, particularly in the vicinity of intrusive bodies, with the presence of hornblende (amphiboles) and plagioclase. The gold mineralization is mainly hosted by two (2) metasedimentary lithological units: meta-greywackes and shales.

基于预检验的快速随机抽样一致性算法

随机抽样一致性算法RANSAC(randomsampleconsensus)是在计算机视觉领域内应用最广泛的Robust估计算法之一,但是RANSAC算法计算效率较低.提出一种基于模型参数预检验的快速RANSAC算法(previewmodelparametersevaluationRANSAC,简称PERANSAC).算法在RANSAC算法模型参数检验前,加入预检验过程,在保证计算结果置信概率不变的前提下,过滤掉大量偏差较大的模型参数,提高了RANSAC算法的整体效率.模拟数据和真实图像数据实验结果表明,此算法和RANSAC算法计算精度保持一致,计算速度高于RANSAC算法.

Geological mapping and mining prospecting in the Aouli inlier(Eastern Meseta,Morocco)based on remote sensing and geographic information systems(GIS)

Landsat 8 Oli,ASTER,and Sentinel 2A satellite images processing was used to map geological formations,lineaments and hydrothermal alteration minerals in the Aouli inlier,as a case study to illustrate the application of digital images processing and Geographic Information System(GIS)in geological mapping and mining prospecting.Principal Component Analysis(PCA)applied to the Landsat images allowed good lithological discrimination and contributed to the updating of available geological maps.The Automatic lineament extraction from Sentinel images revealed the main tectonic structures affecting Aouli inlier.The ratio bands(b5+b7)/b6 and the false color composite(b4/b6,b2/b1,b3/b2)allowed the hydrothermal alteration minerals mapping from Aster images.Combined with available geological data and field observations,the satellite derived data were integrated and analyzed in a GIS software to establish mining prospecting guides.The results showed that the anomaly zones are intimately linked to NNE-SSW and NW-SE oriented faults and to highly fractured areas developing argillic and Fe rich alterations.Verified via field survey,this approach was successfully applied to the Aouli inlier to rapidly target potential areas to be explored in the tactical phase.This provides a model for future prospecting efforts for similar mineral deposits in other areas.

Structural Evolution of a Precambrian Segment: Example of the Paleoproterozoic Formations of the Mako Belt (Eastern Senegal, West Africa)

The western part of the Kedougou Kenieba Inlier is located in the West African Craton. It consists of paleoproterozoic NE-trending elongate belts (subprovinces) of metavolcanic and granitic rocks that alternate with metasedimentary belts. Major linear fault such as the MTZ which also approximate a north-easterly trend form the eastern boundaries. The field observations and geophysics analyses were completed by a microscopic study. Based on these data we define across this region four lithostructural domains from east to west. The western domain is structurally complex. The rocks of this domain have been subjected to a complex history of polyphase deformation and metamorphism. The structural analyse allow us to distinguished three deformation events. The deformation results in the formation of D1 thrust tectonic and D2 and D3 transcurrent tectonic. The structural evolution of the Mako Belt is characterized by deformation dominated by the intrusion of large TTG batholiths (D1) followed by basins formation and transpression accommodating oblique convergence and collision (D2 and D3). The change from thrusting (D1 deformation to transcurrent motion (D2 and D3) is recorded in the marginal basin of the central domain and in Tinkoto pull apart basin. The timing of these basins indicates a diachronous evolution. Deformation styles within the basin are compatible with a dextral transpression which terminated at ca 2090 Ma. Small extensional basins formed over the rocks of the Mako Belt are filled with continental detrital sedimentary rocks that show weak foliation and active felsic volcanism. We suggest that the sinistral transpressive tectonic associated with oblique subduction may have generated the pull-apart basin and subaqueous volcanism. In part these features are now related to terrain accretion, thrusting and strike slip movement during oblique convergence. The inversion of the large scale structural evolution from thrusting to strike slip is common to modern orogenies.

Petrological and Structural Approach to Understanding the Mechanism of Formation and Development of Paleoproterozoic Calc-Alkaline Volcanic Rocks of West Africa’s Craton: An Example of the Mako and Foulde Groups (Kedougou Inlier in Western Senegal)

The calc-alkaline volcanic formations in the western part of the Kedougou-Kenieba inlier crop out in three complexes: the Foulde in the North and the areas of Mako and Baniomba in the South. These complexes which either combine with the tholeiites or cut across the sedimentary formations are composed of thin veins and massive lava flows. They have many petrographic similarities and show chemical characteristics that resemble those of island-arc rocks. At the tectonic level, the D1 deformation phase preceding the formation of the basins and the transpressive tectonics including an oblique convergence may account for the structural evolution of the Mako volcanic belt. Its occurrence in different basins may be evidenced by the composition of some lithophilic components like the Sr, Ba, U, Rb and the composition of clinopyroxenes enriched in TiO2, FeO, Na2O in the Foulde calc-alkaline volcanic rocks that developed in a sedimentary environment.

Isotopic and geochemical constraints for a Paleoproterozoic accretionary orogen in the Borborema Province,NE Brazil:Implications for reconstructing Nuna/Columbia

The Alto MoxotóTerrane of the Borborema Province presents a wide exposure of Paleoproterozoic crust,but unlike other continental blocks of South America,its orogenic history is strongly obliterated by late Neoproterozoic deformation.New isotopic and geochemical studies were conducted in mafic-ultramafic(Fazenda Carmo Suite)and granitic-gneissic rocks(Riacho do Navio Suite)within the terrane.The former present zircon U-Pb crystallization ages at ca.2.13 Ga,whereas Sm-Nd data suggests a juvenile origin via melting of early Paleoproterozoic to Archean peridotitic sources.Geochemical data for these rocks are compatible with tholeiitic magmas with some degree of crustal contamination and trace element distribution points to a continental-arc related setting interpreted as remnants of the early stages of subduction.In contrast,the Riacho do Navio Suite was emplaced at ca.2.08 Ga and has highly negativeεNd(t)values indicating crustal reworking.The suite displays calc-alkali to alkali-calcic and ferroan geochemical signatures compatible with Cordilleran magmas.In addition,trace-element distribution as well as discriminant diagrams suggest that the precursor magmas were generated during the later stages of a continental arc or in a syn-collisional setting.Based on our results,we suggest that the studied units might represent missing pieces of a Paleoproterozoic accretionary orogen that formed the crustal framework of the Alto MoxotóTerrane,and that this represents a block associated with assembly of the Nuna/Columbia supercontinent,which is now largely hidden within the Neoproterozoic orogenic belts of West Gondwana.

Refining the Stratigraphy of the Taghdout Group by Using the U-Pb Geochronology of the Taghdout Sill(Zenaga inlier,Anti-Atlas,Morocco)

The Anti-Atlas belt of southern Morocco is situated on the northern edge of the West African craton(WAC).It corresponds to a broad anticlinorium some 800 km long and 200 km wide,trending ENE-WSW,parallel to the

Two-Generation of Sphalerite from Pb-Zn Mineralization of Riasi Inlier, Jammu and Kashmir, India: Evidences from Sulphur Isotopes

Precambrian carbonate sequence of Riasi Inlier hosts epigenetic lead-zinc mineralization in the form of pockets, lenses and veins. The mineralization is having variable Pb:Zn ratio and shows lithological preferences. The sphalerite rich pockets are concentrated within the dolostone of older Trikuta Formation while galena rich mineralization occurs in form of veins, lenses and pockets hosted within siliceous varieties of dolostone and quartzite belonging to younger Khairikot Formation. Sulphur isotope geochemistry is reported in the present paper for the sphalerire and galena from the area for first time. Overall?δ34S of sulphides varies from (+9.67‰ to +34.42‰). Sphalerite ores hosted within older Trikuta Formation and younger Khairikot Formation, however, show different?δ34S values. It ranged from +9.67‰ to +10.59‰ for the sphalarite hosted in Trikuta Formation and from +18.38‰ to +34.42‰ for sphalerite hosted within Khairikot Formation. Sulphur isotopic data and ore petrographic data suggest that there is two-generation of sphalerite present in the area.

Study on fluid inclusions and features of ore-forming fluids of Diakha gold deposit,Mali,West Africa

The Diakha gold deposit is located in the southeastern margin of the highly prospective/productive Paleoproterozoic( Birimian) Kédougou-Kéniéba Inlier. Gold mineralization is closely associated with a narrow,sub-vertical,NE-trending shear corridor. The corridor is to the east of a sinistrally reactivated D1 west-dipping fault,which emanated from SMSZ( D2 reverse-sinistral regional structure). The mineralization is hosted by fine-grained sandstone and breccias units associated with a moderate to strong hydrothermal alteration,which is dominated by albitization,carbonization,silicification,hematization,and chloritization. Diakha field data and laboratory analysis suggest the existence of two main stages of hydrothermal mineralization,namely stage I and stage II. Stage I is of a breccias type of mineralization and represents the major gold bearing stage. It isassociated with hematite + calcite + ankerite/dolomite and quartz pervasive alteration,controlled by the predominantly brittle-ductile NNE to NE-shearing structures of the main deformation event D2. Stage II is represented by the second minor hydrothermal episode,showing local quartz-tourmaline and tremolite alteration which is structurally controlled by the dipping S3 cleavage formed during D3 deformation. Petrographic and microthermometric studies of fluid inclusions from quartz veins reveal the presence of early dominant carbonic CO2-pure and aqueous-carbonic CO2-rich( LCO2+ VCO2± H2 O) in stage I. The exclusively aqueous H2 O + Na Cl ± CO2 fluid inclusions( L-type) are observed in stage II. Interpretation shows that the ore-forming fluids originated from a homogeneous H2 O-CO2 fluid during phase separation,with trapping temperatures of 250℃ to 280℃ and low salinity( < 6 wt % Na Cl equiv),indicating an estimated trapping pressure for the deposit between 610 to 800 bars.

Mechanical Behavior of Pillow Lavas in MakoSupergroup: Case of South Mako Hill

This work shows the Kédougou-Kéniéba inlier (eastern Senegal) pillow lavas behavior from laboratory to field. Some uniaxial tests are carried out on five types of specimens of pillow lavas. These types of specimens are: macroscopicly healthy rock, fractured rock without filling, fractured rock filled with epidote, chlorite and calcite and rocks with tension crack filled with quartz. The Young moduli and the uniaxial compression strength are good for the healthy rock. The Young moduli fall slightly for facies with horizontal cracks while uniaxial compression strength (Rc) varies slightly. For filled fractured specimens, Rc and Young modulus (E) decrease remarkably. Decreases are most important for cracks filled with epidote, chlorite and calcite than with quartz. That is due to the differences of rigidity between these materials. Also, the slope stability of hillsides in this area depends on to these characteristics.

The Late Neoproterozoïc Continental Tholeiitic Basalts of the Toubkal Inlier (Western High-Atlas, Morocco): A Post-Pan-African Rifting Witness in the Northern Margin of the West African Craton

The late Neoproterozo&#239c Toubkal inlier (Ancient Massif of the High-Atlas, Morocco) contains two igneous basaltic series (Tircht and Sidi Chamharouch). Investigated rocks display characteristics of within-plate continental tholeiitic and are similar to rocks originated in orogenic contexts. The geochemical results allow the assumption that subduction active processes are indirectly responsible for the genesis of theses rocks. The orogenic signature is linked probably to a Pan-African magmatic source previously metasomatized in the northern margin of the West African Craton.